/*
 * Copyright (c) 2020 Fagang Jin.
 *
 * This file is part of thor
 * (see manaai.cn).
 *
 * Licensed to the Apache Software Foundation (ASF) under one
 * or more contributor license agreements.  See the NOTICE file
 * distributed with this work for additional information
 * regarding copyright ownership.  The ASF licenses this file
 * to you under the Apache License, Version 2.0 (the
 * "License"); you may not use this file except in compliance
 * with the License.  You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
 * KIND, either express or implied.  See the License for the
 * specific language governing permissions and limitations
 * under the License.
 */
/**
 *
 *
 *
 * Code from apollo, simply do graph optimization
 * for automous car
 * 
 * 
 * 
 * */

#ifndef _APOLLO_PERCEPTION_STANDALONE_UTIL_GRAPH_UTIL_H_
#define _APOLLO_PERCEPTION_STANDALONE_UTIL_GRAPH_UTIL_H_

#include <vector>

namespace thor {
namespace graph {

// bfs based component analysis
void ConnectedComponentAnalysis(const std::vector<std::vector<int>>& graph,
                                std::vector<std::vector<int>>* components);

}  // namespace graph
}  // namespace thor
#endif  // MODULES_PERCEPTION_OBSTACLE_COMMON_GRAPH_UTIL_H_
